On the Stability of a Self-Tuning Controller in the Presence of Bounded Disturbances

Abstract

In this paper a proof of bounded-input bounded-output stability of a discrete-time self-tuning control system in the presence of bounded disturbances is given. The controller considered in the paper minimizes a quadratic cost function and can be used for nonminimum phase systems, and its parameter estimation scheme employs a recursive least-squares with a dead zone.